<!DOCTYPE html PUBLIC "-//W3C//DTD XHTML 1.0 Transitional//EN" "http://www.w3.org/TR/xhtml1/DTD/xhtml1-transitional.dtd">
<html xmlns="http://www.w3.org/1999/xhtml">
<head>
<meta http-equiv="Content-Type" content="text/xhtml;charset=UTF-8"/>
<meta http-equiv="X-UA-Compatible" content="IE=9"/>
<title>prencar: D:/Workspace/Arduino/prencar/MoveBackToLine.h Source File</title>

<link href="tabs.css" rel="stylesheet" type="text/css"/>
<link href="doxygen.css" rel="stylesheet" type="text/css" />
<link href="navtree.css" rel="stylesheet" type="text/css"/>
<script type="text/javascript" src="jquery.js"></script>
<script type="text/javascript" src="resize.js"></script>
<script type="text/javascript" src="navtree.js"></script>
<script type="text/javascript">
  $(document).ready(initResizable);
</script>
<link href="search/search.css" rel="stylesheet" type="text/css"/>
<script type="text/javascript" src="search/search.js"></script>
<script type="text/javascript">
  $(document).ready(function() { searchBox.OnSelectItem(0); });
</script>

</head>
<body>
<div id="top"><!-- do not remove this div! -->


<div id="titlearea">
<table cellspacing="0" cellpadding="0">
 <tbody>
 <tr style="height: 56px;">
  
  <td id="projectlogo"><img alt="Logo" src="prencar.png"/></td>
  
  
  <td style="padding-left: 0.5em;">
   <div id="projectname">prencar
   &#160;<span id="projectnumber">1</span>
   </div>
   
  </td>
  
  
  
 </tr>
 </tbody>
</table>
</div>

<!-- Generated by Doxygen 1.8.0 -->
<script type="text/javascript">
var searchBox = new SearchBox("searchBox", "search",false,'Search');
</script>
  <div id="navrow1" class="tabs">
    <ul class="tablist">
      <li><a href="index.html"><span>Main&#160;Page</span></a></li>
      <li><a href="pages.html"><span>Related&#160;Pages</span></a></li>
      <li><a href="annotated.html"><span>Classes</span></a></li>
      <li class="current"><a href="files.html"><span>Files</span></a></li>
      <li>
        <div id="MSearchBox" class="MSearchBoxInactive">
        <span class="left">
          <img id="MSearchSelect" src="search/mag_sel.png"
               onmouseover="return searchBox.OnSearchSelectShow()"
               onmouseout="return searchBox.OnSearchSelectHide()"
               alt=""/>
          <input type="text" id="MSearchField" value="Search" accesskey="S"
               onfocus="searchBox.OnSearchFieldFocus(true)" 
               onblur="searchBox.OnSearchFieldFocus(false)" 
               onkeyup="searchBox.OnSearchFieldChange(event)"/>
          </span><span class="right">
            <a id="MSearchClose" href="javascript:searchBox.CloseResultsWindow()"><img id="MSearchCloseImg" border="0" src="search/close.png" alt=""/></a>
          </span>
        </div>
      </li>
    </ul>
  </div>
  <div id="navrow2" class="tabs2">
    <ul class="tablist">
      <li><a href="files.html"><span>File&#160;List</span></a></li>
      <li><a href="globals.html"><span>File&#160;Members</span></a></li>
    </ul>
  </div>
</div>
<div id="side-nav" class="ui-resizable side-nav-resizable">
  <div id="nav-tree">
    <div id="nav-tree-contents">
    </div>
  </div>
  <div id="splitbar" style="-moz-user-select:none;" 
       class="ui-resizable-handle">
  </div>
</div>
<script type="text/javascript">
  initNavTree('_move_back_to_line_8h.html','');
</script>
<div id="doc-content">
<!-- window showing the filter options -->
<div id="MSearchSelectWindow"
     onmouseover="return searchBox.OnSearchSelectShow()"
     onmouseout="return searchBox.OnSearchSelectHide()"
     onkeydown="return searchBox.OnSearchSelectKey(event)">
<a class="SelectItem" href="javascript:void(0)" onclick="searchBox.OnSelectItem(0)"><span class="SelectionMark">&#160;</span>All</a><a class="SelectItem" href="javascript:void(0)" onclick="searchBox.OnSelectItem(1)"><span class="SelectionMark">&#160;</span>Classes</a><a class="SelectItem" href="javascript:void(0)" onclick="searchBox.OnSelectItem(2)"><span class="SelectionMark">&#160;</span>Files</a><a class="SelectItem" href="javascript:void(0)" onclick="searchBox.OnSelectItem(3)"><span class="SelectionMark">&#160;</span>Functions</a><a class="SelectItem" href="javascript:void(0)" onclick="searchBox.OnSelectItem(4)"><span class="SelectionMark">&#160;</span>Variables</a><a class="SelectItem" href="javascript:void(0)" onclick="searchBox.OnSelectItem(5)"><span class="SelectionMark">&#160;</span>Enumerations</a><a class="SelectItem" href="javascript:void(0)" onclick="searchBox.OnSelectItem(6)"><span class="SelectionMark">&#160;</span>Enumerator</a><a class="SelectItem" href="javascript:void(0)" onclick="searchBox.OnSelectItem(7)"><span class="SelectionMark">&#160;</span>Defines</a></div>

<!-- iframe showing the search results (closed by default) -->
<div id="MSearchResultsWindow">
<iframe src="javascript:void(0)" frameborder="0" 
        name="MSearchResults" id="MSearchResults">
</iframe>
</div>

<div class="header">
  <div class="headertitle">
<div class="title">D:/Workspace/Arduino/prencar/MoveBackToLine.h</div>  </div>
</div><!--header-->
<div class="contents">
<a href="_move_back_to_line_8h.html">Go to the documentation of this file.</a><div class="fragment"><pre class="fragment"><a name="l00001"></a>00001 <span class="preprocessor">#ifndef MoveBackToLine_h</span>
<a name="l00002"></a>00002 <span class="preprocessor"></span><span class="preprocessor">#define MoveBackToLine_h</span>
<a name="l00003"></a>00003 <span class="preprocessor"></span>
<a name="l00004"></a>00004 <span class="preprocessor">#include &quot;Arduino.h&quot;</span>
<a name="l00005"></a>00005 <span class="preprocessor">#include &quot;<a class="code" href="_line_follow_8h.html">LineFollow.h</a>&quot;</span>
<a name="l00006"></a>00006 <span class="preprocessor">#include &quot;<a class="code" href="_extended_move_8h.html">ExtendedMove.h</a>&quot;</span>
<a name="l00007"></a>00007 <span class="preprocessor">#include &quot;<a class="code" href="_line_center_8h.html">LineCenter.h</a>&quot;</span>
<a name="l00008"></a>00008 <span class="preprocessor">#include &quot;<a class="code" href="_cube_approach_8h.html">CubeApproach.h</a>&quot;</span>
<a name="l00009"></a>00009 
<a name="l00015"></a><a class="code" href="class_move_back_to_line.html">00015</a> <span class="keyword">class </span><a class="code" href="class_move_back_to_line.html" title="The MoveBackToLine class will navigate car back to the line according to the stored information from ...">MoveBackToLine</a> : <span class="keyword">public</span> <a class="code" href="class_line_follow.html">LineFollow</a>
<a name="l00016"></a>00016 {
<a name="l00017"></a>00017 <span class="keyword">public</span>:
<a name="l00018"></a>00018   <a class="code" href="class_move_back_to_line.html#a703b0c91750c6cb4a1203aa8e83452be">MoveBackToLine</a>();
<a name="l00019"></a>00019   <span class="keyword">virtual</span> <span class="keywordtype">void</span> <a class="code" href="class_move_back_to_line.html#ab5f8b99d6379511c6ed09b4f50432641">begin</a>();
<a name="l00020"></a>00020   <span class="keyword">virtual</span> <span class="keywordtype">void</span> <a class="code" href="class_move_back_to_line.html#a2481a81f7c90dee23d229911c8821e65">doJob</a>();
<a name="l00021"></a>00021   <span class="keyword">virtual</span> <span class="keywordtype">void</span> <a class="code" href="class_move_back_to_line.html#a8b48709e127b00072dcce276cff5055b">startIt</a>(<a class="code" href="class_cube_approach.html">CubeApproach</a>* <a class="code" href="_state_machine_8h.html#ad5f3c64cf1a6afd0af12270f4a539ce8ae0dc916c0e29132e7162d68bfd586d1f">cubeApproach</a>);
<a name="l00022"></a>00022   
<a name="l00028"></a><a class="code" href="class_move_back_to_line.html#a688a4ed1c80d6e0b419e30fcca9534d7">00028</a>   <span class="keywordtype">boolean</span> <a class="code" href="class_move_back_to_line.html#a688a4ed1c80d6e0b419e30fcca9534d7" title="This variable is set to true as soon as the line has been reached but the car is not yet centered...">lineHasBeenReached</a>;
<a name="l00029"></a>00029   
<a name="l00033"></a><a class="code" href="class_move_back_to_line.html#ab26ab46222db08890998a00b9475bf50">00033</a>   <span class="keywordtype">boolean</span> <a class="code" href="class_move_back_to_line.html#ab26ab46222db08890998a00b9475bf50" title="Will be set to true as soon as the car is back on the line and the line centering process has finishe...">isBackOnLine</a>;
<a name="l00034"></a>00034   
<a name="l00042"></a><a class="code" href="class_move_back_to_line.html#a281d9785e63b445e7b77a6b3d5a63a19">00042</a>   <span class="keywordtype">boolean</span> <a class="code" href="class_move_back_to_line.html#a281d9785e63b445e7b77a6b3d5a63a19" title="Set to true if no cube approach information has been found.">errorNoCubeApproachInformation</a>;
<a name="l00043"></a>00043 <span class="keyword">private</span>:
<a name="l00044"></a><a class="code" href="class_move_back_to_line.html#a84fbbb886c4d7e2433f66d15e94c9045">00044</a>   <a class="code" href="class_extended_move.html" title="Allows to define extended car control instuctions.">ExtendedMove</a>* <a class="code" href="class_move_back_to_line.html#a84fbbb886c4d7e2433f66d15e94c9045" title="The reference to the extended move class.">_extMove</a>; 
<a name="l00045"></a><a class="code" href="class_move_back_to_line.html#a55c0781433a2d6821e809326870d48fb">00045</a>   <a class="code" href="class_cube_approach.html">CubeApproach</a>* <a class="code" href="class_move_back_to_line.html#a55c0781433a2d6821e809326870d48fb" title="Reference to a cube approach class with information about how to get back to the line.">_cubeApproach</a>; 
<a name="l00046"></a>00046   
<a name="l00047"></a><a class="code" href="class_move_back_to_line.html#a0646d987470af65de0848c93d4101e7f">00047</a>   <a class="code" href="class_line_center.html" title="The LineCenter class centers the car on the line.">LineCenter</a> <a class="code" href="class_move_back_to_line.html#a0646d987470af65de0848c93d4101e7f">lineCenter</a>;
<a name="l00048"></a>00048 
<a name="l00052"></a><a class="code" href="class_move_back_to_line.html#a5e5f03cfd5a5f8c4aa4baf179a4f4507">00052</a>   <span class="keywordtype">unsigned</span> <span class="keywordtype">long</span> <a class="code" href="class_move_back_to_line.html#a5e5f03cfd5a5f8c4aa4baf179a4f4507">_timeMoveBackToLineStarted</a>;
<a name="l00053"></a>00053   
<a name="l00054"></a><a class="code" href="class_move_back_to_line.html#a01f22d109c4c4d7e3596f6014ed96a5f">00054</a>   <span class="keywordtype">unsigned</span> <span class="keywordtype">long</span> <a class="code" href="class_move_back_to_line.html#a01f22d109c4c4d7e3596f6014ed96a5f" title="Holds the timestamp of the time when the last &quot;move back to line&quot; check was done.">_timeLastMoveBackToLineCheck</a>; 
<a name="l00055"></a>00055   
<a name="l00060"></a><a class="code" href="class_move_back_to_line.html#abbdf24358628d0b06eb9969fc1d88135">00060</a>   <span class="keywordtype">boolean</span> <a class="code" href="class_move_back_to_line.html#abbdf24358628d0b06eb9969fc1d88135">_reachingLineFromLeft</a>;
<a name="l00061"></a>00061 
<a name="l00062"></a>00062   
<a name="l00063"></a>00063 };
<a name="l00064"></a>00064 <span class="preprocessor">#endif</span>
<a name="l00065"></a>00065 <span class="preprocessor"></span>
<a name="l00066"></a>00066 
<a name="l00067"></a>00067 
<a name="l00068"></a>00068 
<a name="l00069"></a>00069 
<a name="l00070"></a>00070 
<a name="l00071"></a>00071 
<a name="l00072"></a>00072 
<a name="l00073"></a>00073 
</pre></div></div><!-- contents -->
</div>
  <div id="nav-path" class="navpath">
    <ul>
      <li class="navelem"><a class="el" href="_move_back_to_line_8h.html">MoveBackToLine.h</a>      </li>

    <li class="footer">Generated on Thu Jun 7 2012 20:47:43 for prencar by
    <a href="http://www.doxygen.org/index.html">
    <img class="footer" src="doxygen.png" alt="doxygen"/></a> 1.8.0 </li>
   </ul>
 </div>


</body>
</html>
